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Plane: change tailsitter_input to bitmask
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update parameter metadata for Q_TAILSIT_INPUT and Q_FRAME_TYPE
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@kd0aij @tridge
kd0aij authored and tridge committed Dec 17, 2019
1 parent c16f3a2 commit 56b2c69
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Showing 3 changed files with 20 additions and 23 deletions.
19 changes: 9 additions & 10 deletions ArduPlane/quadplane.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -145,7 +145,7 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
// @Param: FRAME_TYPE
// @DisplayName: Frame Type (+, X or V)
// @Description: Controls motor mixing for multicopter component
// @Values: 0:Plus, 1:X, 2:V, 3:H, 4:V-Tail, 5:A-Tail, 10:Y6B, 11:Y6F, 12:BetaFlightX, 13:DJIX, 14:ClockwiseX, 15: I
// @Values: 0:Plus, 1:X, 2:V, 3:H, 4:V-Tail, 5:A-Tail, 10:Y6B, 11:Y6F, 12:BetaFlightX, 13:DJIX, 14:ClockwiseX, 15:I, 16:MOTOR_FRAME_TYPE_NYT_PLUS, 17:MOTOR_FRAME_TYPE_NYT_X
// @User: Standard
AP_GROUPINFO("FRAME_TYPE", 31, QuadPlane, frame_type, 1),

Expand Down Expand Up @@ -276,10 +276,10 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
AP_GROUPINFO("TILT_RATE_DN", 49, QuadPlane, tilt.max_rate_down_dps, 0),

// @Param: TAILSIT_INPUT
// @DisplayName: Tailsitter input type
// @Description: This controls whether stick input when hovering as a tailsitter follows the conventions for fixed wing hovering or multicopter hovering. When multicopter input is selected the roll stick will roll the aircraft in earth frame and yaw stick will yaw in earth frame. When using fixed wing input the roll and yaw sticks are swapped so that the roll stick controls earth-frame yaw and rudder controls earth-frame roll. When body-frame roll is selected, the yaw stick controls earth-frame yaw rate and the roll stick controls roll in the tailsitter's body frame.
// @Values: 0:MultiCopterInput,1:FixedWingInput,2:BodyFrameRoll_M,3:BodyFrameRoll_P
AP_GROUPINFO("TAILSIT_INPUT", 50, QuadPlane, tailsitter.input_type, TAILSITTER_INPUT_MULTICOPTER),
// @DisplayName: Tailsitter input type bitmask
// @Description: This controls whether stick input when hovering as a tailsitter follows the conventions for fixed wing hovering or multicopter hovering. When PlaneMode is not enabled (bit0 = 0) the roll stick will roll the aircraft in earth frame and yaw stick will yaw in earth frame. When PlaneMode input is enabled, the roll and yaw sticks are swapped so that the roll stick controls earth-frame yaw and rudder controls earth-frame roll. When body-frame roll is enabled (bit1 = 1), the yaw stick controls earth-frame yaw rate and the roll stick controls roll in the tailsitter's body frame when flying level.
// @Bitmask: 0:PlaneMode,1:BodyFrameRoll
AP_GROUPINFO("TAILSIT_INPUT", 50, QuadPlane, tailsitter.input_type, 0),

// @Param: TAILSIT_MASK
// @DisplayName: Tailsitter input mask
Expand Down Expand Up @@ -827,17 +827,16 @@ void QuadPlane::multicopter_attitude_rate_update(float yaw_rate_cds)
// tailsitter-only body-frame roll control options
// Angle mode attitude control for pitch and body-frame roll, rate control for euler yaw.
if (is_tailsitter() &&
((tailsitter.input_type == TAILSITTER_INPUT_BF_ROLL_M) ||
(tailsitter.input_type == TAILSITTER_INPUT_BF_ROLL_P))) {
(tailsitter.input_type & TAILSITTER_INPUT_BF_ROLL)) {

if (tailsitter.input_type == TAILSITTER_INPUT_BF_ROLL_M) {
if (!(tailsitter.input_type & TAILSITTER_INPUT_PLANE)) {
// In multicopter input mode, the roll and yaw stick axes are independent of pitch
attitude_control->input_euler_rate_yaw_euler_angle_pitch_bf_roll(false,
plane.nav_roll_cd,
plane.nav_pitch_cd,
yaw_rate_cds);
return;
} else if (tailsitter.input_type == TAILSITTER_INPUT_BF_ROLL_P) {
} else {
// In plane input mode, the roll and yaw sticks are swapped
// and their effective axes rotate from yaw to roll and vice versa
// as pitch goes from zero to 90.
Expand Down Expand Up @@ -1311,7 +1310,7 @@ float QuadPlane::get_pilot_input_yaw_rate_cds(void) const
// add in rudder input
float max_rate = yaw_rate_max;
if (is_tailsitter() &&
tailsitter.input_type == TAILSITTER_INPUT_BF_ROLL_P) {
tailsitter.input_type & TAILSITTER_INPUT_BF_ROLL) {
// must have a non-zero max yaw rate for scaling to work
max_rate = (yaw_rate_max < 1.0f) ? 1 : yaw_rate_max;
}
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21 changes: 10 additions & 11 deletions ArduPlane/quadplane.h
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Original file line number Diff line number Diff line change
Expand Up @@ -443,24 +443,23 @@ class QuadPlane
bool motors_active:1;
} tilt;

// bit 0 enables plane mode and bit 1 enables body-frame roll mode
enum tailsitter_input {
TAILSITTER_INPUT_MULTICOPTER = 0,
TAILSITTER_INPUT_PLANE = 1,
TAILSITTER_INPUT_BF_ROLL_M = 2,
TAILSITTER_INPUT_BF_ROLL_P = 3,
TAILSITTER_INPUT_PLANE = (1U<<0),
TAILSITTER_INPUT_BF_ROLL = (1U<<1)
};

enum tailsitter_mask {
TAILSITTER_MASK_AILERON = 1,
TAILSITTER_MASK_ELEVATOR = 2,
TAILSITTER_MASK_THROTTLE = 4,
TAILSITTER_MASK_RUDDER = 8,
TAILSITTER_MASK_AILERON = (1U<<0),
TAILSITTER_MASK_ELEVATOR = (1U<<1),
TAILSITTER_MASK_THROTTLE = (1U<<2),
TAILSITTER_MASK_RUDDER = (1U<<3),
};

enum tailsitter_gscl_mask {
TAILSITTER_GSCL_BOOST = 1,
TAILSITTER_GSCL_ATT_THR = 2,
TAILSITTER_GSCL_INTERP = 4,
TAILSITTER_GSCL_BOOST = (1U<<0),
TAILSITTER_GSCL_ATT_THR = (1U<<1),
TAILSITTER_GSCL_INTERP = (1U<<2),
};

// tailsitter control variables
Expand Down
3 changes: 1 addition & 2 deletions ArduPlane/tailsitter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -217,8 +217,7 @@ bool QuadPlane::tailsitter_transition_vtol_complete(void) const
void QuadPlane::tailsitter_check_input(void)
{
if (tailsitter_active() &&
(tailsitter.input_type == TAILSITTER_INPUT_BF_ROLL_P ||
tailsitter.input_type == TAILSITTER_INPUT_PLANE)) {
(tailsitter.input_type & TAILSITTER_INPUT_PLANE)) {
// the user has asked for body frame controls when tailsitter
// is active. We switch around the control_in value for the
// channels to do this, as that ensures the value is
Expand Down

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